相关论文: Orchestrate, Generate, Reflect: A VLM-Based Multi-…

Reinforcement Learning (RL) has emerged as a dominant paradigm for end-to-end autonomous driving (AD). However, RL suffers from sample inefficiency and a lack of semantic interpretability in complex scenarios. Foundation Models,…

In offline model-based reinforcement learning (offline MBRL), we learn a dynamic model from historically collected data, and subsequently utilize the learned model and fixed datasets for policy learning, without further interacting with the…

Goal-conditioned hierarchical reinforcement learning (HRL) presents a promising approach for enabling effective exploration in complex, long-horizon reinforcement learning (RL) tasks through temporal abstraction. Empirically, heightened…

Recent advancements in large language models (LLMs) have enabled their use as agents for planning complex tasks. Existing methods typically rely on a thought-action-observation (TAO) process to enhance LLM performance, but these approaches…

A prevailing approach for learning visuomotor policies is to employ reinforcement learning to map high-dimensional visual observations directly to action commands. However, the combination of high-dimensional visual inputs and agile…

Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as…

Properly defining a reward signal to efficiently train a reinforcement learning (RL) agent is a challenging task. Designing balanced objective functions from which a desired behavior can emerge requires expert knowledge, especially for…

Foundation models update slowly due to resource-intensive training, whereas domain-specific models evolve rapidly between releases. Model merging seeks to combine multiple expert models into a single, more capable model, reducing storage…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

Recent advances in text-only "slow-thinking" reasoning have prompted efforts to transfer this capability to vision-language models (VLMs), for training visual reasoning models (\textbf{VRMs}). owever, such transfer faces critical…

This study addresses the critical need for enhanced situational awareness in autonomous driving (AD) by leveraging the contextual reasoning capabilities of large language models (LLMs). Unlike traditional perception systems that rely on…

Bus holding control is a widely-adopted strategy for maintaining stability and improving the operational efficiency of bus systems. Traditional model-based methods often face challenges with the low accuracy of bus state prediction and…

Retrieval-Augmented Generation (RAG) has been shown to enhance the factual accuracy of Large Language Models (LLMs), but existing methods often suffer from limited reasoning capabilities in effectively using the retrieved evidence,…

Proper functioning of connected and automated vehicles (CAVs) is crucial for the safety and efficiency of future intelligent transport systems. Meanwhile, transitioning to fully autonomous driving requires a long period of mixed autonomy…

Desktop cleaning demands open-vocabulary recognition and precise manipulation for heterogeneous debris. We propose a hierarchical framework integrating reflective Vision-Language Model (VLM) planning with dual-arm execution via structured…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Navigating heterogeneous traffic environments with diverse driving styles poses a significant challenge for autonomous vehicles (AVs) due to their inherent complexity and dynamic interactions. This paper addresses this challenge by…

Effective knowledge management is critical for preserving institutional expertise and improving the efficiency of workforce training in state transportation agencies. Traditional approaches, such as static documentation, classroom-based…

Multi-agent reinforcement learning (MARL) provides an efficient way for simultaneously learning policies for multiple agents interacting with each other. However, in scenarios requiring complex interactions, existing algorithms can suffer…

Multi-agent large language model (LLM) systems have shown strong potential in complex reasoning and collaborative decision-making tasks. However, most existing coordination schemes rely on static or full-context routing strategies, which…